Presents a motion planning primitive for car-like vehicles. It is a completely parametrized quintic spline, denoted as /spl eta/-spline, that allows interpolation of an arbitrary sequence of points with overall second order geometric (G/sup 2/-) continuity. Issues such as minimality, regularity, symmetry, and flexibility of these G/sup 2/-splines are addressed in the exposition. The development of the new primitive is tightly connected to the flatness based control of nonholonomic car-like vehicles.


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    Title :

    Quintic G/sup 2/-splines for trajectory planning of autonomous vehicles


    Contributors:


    Publication date :

    2000-01-01


    Size :

    460544 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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